Charging and discharging power distribution method, device and vehicle for electric vehicle

Abstract

The application provides a charging and discharging power distribution method and device of an electric vehicle and the vehicle, and the method comprises the following steps: when a power battery is in a discharging working condition or a charging working condition, determining a motor with high priority from a working motor and a walking motor according to an operating working condition of the electric vehicle; when the power battery is in the discharging working condition, determining a driving power limit value of the motor with high priority as a maximum available discharging power of the power battery, and determining a driving power limit value of the motor with low priority as a difference between the maximum available discharging power and an actual driving power of the motor with high priority; when the power battery is in the charging working condition, determining a braking recovery power limit value of the motor with high priority as a maximum available charging power of the power battery, and determining a braking recovery power limit value of the motor with low priority as a difference between the maximum available charging power and an actual braking recovery power of the motor with high priority, so as to solve the problem that the electric vehicle is difficult to reasonably distribute the charging and discharging power in the prior art.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of electric vehicles, and in particular, to a charging and discharging power distribution method and device for an electric vehicle, a computer readable storage medium, a computer program product and a vehicle. BACKGROUND

[0002] Since a pure electric loader is powered by one motor for walking and one motor for working, and the energy sources of the two motors are both power batteries, in actual work, the charging and discharging power of the power battery may not be able to meet the driving requirements of the two motors at the same time. Therefore, there is an urgent need to provide a charging and discharging power distribution method for a pure electric loader, which can meet the driving requirements of the driver on one hand and the working requirements of the driver on the other hand under the premise of ensuring the operation performance of the driver. SUMMARY

[0003] The main purpose of the present application is to provide a charging and discharging power distribution method and device for an electric vehicle, a computer readable storage medium, a computer program product and a vehicle, so as to at least solve the problem that the charging and discharging power of the electric vehicle cannot be reasonably distributed in the prior art.

[0004] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a charging and discharging power distribution method for an electric vehicle is provided, the electric vehicle comprising a power battery, a working motor and a walking motor, the power battery being configured to provide power for the working motor and the walking motor, the method comprising: determining a motor with high priority among the working motor and the walking motor according to the running condition of the electric vehicle when the power battery is in a discharging condition or a charging condition; determining a driving power limit value of the motor with high priority as a maximum available discharging power of the power battery and determining a driving power limit value of the motor with low priority as a difference between the maximum available discharging power and an actual driving power of the motor with high priority when the power battery is in the discharging condition; determining a braking recovery power limit value of the motor with high priority as a maximum available charging power of the power battery and determining a braking recovery power limit value of the motor with low priority as a difference between the maximum available charging power and an actual braking recovery power of the motor with high priority when the power battery is in the charging condition.

[0005] Optionally, in the discharging mode or the charging mode of the power battery, the motor with higher priority between the working motor and the traveling motor is determined according to the operation mode of the electric vehicle, comprising: in the discharging mode of the power battery, obtaining the working mode and the throttle opening of the electric vehicle, the working mode comprising the working mode and the non-working mode; in the case that the working mode is the non-working mode and the throttle opening is greater than 0, determining that the traveling motor is the motor with higher priority and the working motor is the motor with lower priority; in the case that the working mode is the working mode and the throttle opening is equal to 0, determining that the working motor is the motor with higher priority and the traveling motor is the motor with lower priority.

[0006] Optionally, in the discharging mode or the charging mode of the power battery, the motor with higher priority between the working motor and the traveling motor is determined according to the operation mode of the electric vehicle, further comprising: in the discharging mode of the power battery, obtaining the working mode and the throttle opening of the electric vehicle, the working mode comprising the working mode and the non-working mode; in the case that the working mode is the non-working mode and the throttle opening is equal to 0, determining that the working motor and the traveling motor have the same priority; in the case that the working mode is the working mode and the throttle opening is greater than 0, determining that the working motor and the traveling motor have the same priority; in the case that the working motor and the traveling motor have the same priority, calculating the minimum operation power of the working motor according to the minimum rotating speed of the working motor, the minimum rotating speed of the working motor being the minimum rotating speed ensuring the working of the working motor; calculating the limited driving torque of the traveling motor according to the maximum available discharging power of the power battery, the minimum operation power of the working motor and the actual rotating speed of the traveling motor; in the case that the limited driving torque of the traveling motor is greater than the required torque of the traveling motor, increasing the rotating speed of the working motor by a predetermined step until the rotating speed of the working motor is equal to the expected rotating speed of the working motor, and controlling the driving power limit of the traveling motor to be the difference between the maximum available discharging power and the actual driving power of the working motor; in the case that the limited driving torque of the traveling motor is less than or equal to the required torque of the traveling motor, maintaining the rotating speed of the working motor at the minimum rotating speed of the working motor, and controlling the driving power limit of the traveling motor to be the difference between the maximum available discharging power and the actual driving power of the working motor.

[0007] Optionally, after the rotating speed of the working motor is increased by the predetermined step, the method further comprises: in the case that the rotating speed of the working motor is greater than the minimum rotating speed of the working motor and the limited driving torque of the traveling motor is less than the required torque of the traveling motor, decreasing the rotating speed of the working motor by the predetermined step until the rotating speed of the working motor is equal to the minimum rotating speed of the working motor, and controlling the driving power limit value of the traveling motor to be the difference between the maximum available discharging power and the actual driving power of the working motor.

[0008] Optionally, before the rotating speed of the working motor is increased by the predetermined step, the method further comprises: obtaining the current gear of the working motor and a set initial rotating speed, the set initial rotating speed being the rotating speed set when the working motor starts; determining the required rotating speed of the working motor according to the current gear; and determining the maximum value of the required rotating speed of the working motor and the set initial rotating speed as the expected rotating speed of the working motor.

[0009] Optionally, in the case that the power battery is in the discharging working condition or the charging working condition, determining the motor with higher priority from the working motor and the traveling motor according to the running working condition of the electric vehicle, the method further comprises: in the case that the power battery is in the charging working condition, obtaining the vehicle speed, the accelerator opening degree and the actual rotating speed of the working motor of the electric vehicle; in the case that the vehicle speed is greater than a predetermined vehicle speed, the accelerator opening degree is equal to 0 and the actual rotating speed of the working motor is less than or equal to a set rotating speed, determining that the traveling motor is the motor with higher priority and the working motor is the motor with lower priority; in the case that one of the vehicle speed being less than or equal to the predetermined vehicle speed and the accelerator opening degree being greater than 0 is satisfied and the actual rotating speed of the working motor is greater than the set rotating speed, determining that the working motor is the motor with higher priority and the traveling motor is the motor with lower priority.

[0010] Optionally, in the discharging mode or the charging mode of the power battery, the motor with higher priority is determined according to the operation mode of the electric vehicle, and the method further comprises: in the charging mode of the power battery, obtaining the vehicle speed, the accelerator opening and the actual speed of the working motor of the electric vehicle; in the case that the vehicle speed is greater than a predetermined vehicle speed, the accelerator opening is equal to 0 and the actual speed of the working motor is greater than a set speed, it is determined that the working motor and the traveling motor have the same priority; in the case that one of the vehicle speed is less than or equal to the predetermined vehicle speed and the accelerator opening is greater than 0 and the actual speed of the working motor is less than or equal to the set speed, it is determined that the working motor and the traveling motor have the same priority; in the case that the working motor and the traveling motor have the same priority, the brake recovery power limit of the traveling motor is determined as the maximum available charging power of the power battery, and the brake recovery power limit of the working motor is determined as the difference between the maximum available charging power and the actual brake recovery power of the traveling motor.

[0011] According to another aspect of the present application, there is provided a charging and discharging power distribution device for an electric vehicle, the electric vehicle comprising a power battery, a working motor and a traveling motor, the power battery being configured to provide power for the working motor and the traveling motor, the device comprising: a first determining unit configured to determine the motor with higher priority between the working motor and the traveling motor according to the operation mode of the electric vehicle in the discharging mode or the charging mode of the power battery; a second determining unit configured to determine the drive power limit of the motor with higher priority as the maximum available discharging power of the power battery and the drive power limit of the motor with lower priority as the difference between the maximum available discharging power and the actual drive power of the motor with higher priority in the discharging mode of the power battery; and a third determining unit configured to determine the brake recovery power limit of the motor with higher priority as the maximum available charging power of the power battery and the brake recovery power limit of the motor with lower priority as the difference between the maximum available charging power and the actual brake recovery power of the motor with higher priority in the charging mode of the power battery.

[0012] According to still another aspect of the present application, there is provided a computer program product comprising a computer program which, when executed by a processor, implements any of the methods described above.

[0013] According to a further aspect of the present application, a vehicle is provided, comprising: a power battery, a working motor, a walking motor, one or more processors, a memory, and one or more programs, wherein the power battery is configured to provide power for the working motor and the walking motor, the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise any one of the methods.

[0014] By applying the technical solution of the present application, in the charging and discharging power distribution method of the electric vehicle, the motor with high priority is determined according to the operating condition of the electric vehicle, in the discharging condition, the driving power limit value of the motor with high priority is determined as the maximum available discharging power of the power battery, and the driving power limit value of the motor with low priority is determined as the difference between the maximum available discharging power and the actual driving power of the motor with high priority, for example, when the power battery is in the discharging condition and the working motor has high priority, the discharging power is preferentially satisfied for the demand of the working motor, and the remaining is satisfied for the demand of the walking motor, otherwise, the charging condition, the braking recovery power limit value of the motor with high priority is determined as the maximum available charging power of the power battery, and the braking recovery power limit value of the motor with low priority is determined as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority, for example, when the power battery is in the discharging condition and the walking motor has high priority, the braking demand of the walking motor is preferentially satisfied, and the remaining is satisfied for the braking demand of the working motor, otherwise, the charging condition, thereby ensuring that the charging and discharging power of the electric vehicle is not overcharged and overdischarged, preferentially satisfying the driving or braking demand of the motor with high priority, ensuring reasonable distribution of the charging and discharging power of the electric vehicle, and solving the problem that the charging and discharging power of the electric vehicle is difficult to be reasonably distributed in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 A hardware structure block diagram of a mobile terminal for performing the charging and discharging power distribution method of the electric vehicle is shown according to an embodiment of the present application;

[0016] Figure 2 A flowchart of a charging and discharging power distribution method of an electric vehicle is shown according to an embodiment of the present application;

[0017] Figure 3 A flowchart of a priority determination method in the discharging condition is shown according to an embodiment of the present application;

[0018] Figure 4 A flowchart of a discharging power distribution method when the priorities are the same is shown according to an embodiment of the present application;

[0019] Figure 5A flowchart of a priority determination method in a charging mode is shown according to an embodiment of the application.

[0020] Figure 6 A structural block diagram of a charging and discharging power distribution device of an electric vehicle is shown according to an embodiment of the application.

[0021] The above-mentioned drawings include the following reference signs:

[0022] 102, processor; 104, memory; 106, transmission device; 108, input and output device. DETAILED DESCRIPTION

[0023] It should be noted that the embodiments and features in the application can be combined with each other without conflict. The application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the application scheme, the technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should belong to the scope of protection of the application.

[0025] It should be noted that the terms "first", "second" and the like in the specification and claims of the application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily limit to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0026] As introduced in the background, the electric vehicle in the prior art has difficulty in reasonably distributing charging and discharging power. To solve the technical problem, the embodiments of the application provide a charging and discharging power distribution method, device, computer readable storage medium, computer program product and vehicle of an electric vehicle.

[0027] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application.

[0028] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal of a method for distributing charging and discharging power of an electric vehicle according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0029] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the device information display method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, implementing the above-mentioned method. The memory 104 may include a high-speed random access memory and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the above-mentioned network may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, abbreviated as NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0030] A method for distributing charge and discharge power of an electric vehicle running on a mobile terminal, a computer terminal or a similar computing device is provided in the present embodiment. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical sequence is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0031] Figure 2 is a flowchart of a method for distributing charge and discharge power of an electric vehicle according to an embodiment of the present application. As shown in Figure 2 , the method comprises the following steps:

[0032] Step S201, when the power battery is in a discharging condition or a charging condition, determining a motor with a higher priority between the working motor and the walking motor according to the running condition of the electric vehicle.

[0033] Step S202, when the power battery is in the discharging condition, determining the driving power limit value of the motor with the higher priority as the maximum available discharging power of the power battery, and determining the driving power limit value of the motor with the lower priority as the difference between the maximum available discharging power and the actual driving power of the motor with the higher priority.

[0034] Step S203, when the power battery is in the charging condition, determining the braking recovery power limit value of the motor with the higher priority as the maximum available charging power of the power battery, and determining the braking recovery power limit value of the motor with the lower priority as the difference between the maximum available charging power and the actual braking recovery power of the motor with the higher priority.

[0035] In the method for allocating charge-discharge power of the electric vehicle, the motor with high priority is determined according to the operating condition of the electric vehicle, the drive power limit of the motor with high priority is the maximum available discharge power of the power battery in the discharge condition, the drive power limit of the motor with low priority is the difference between the maximum available discharge power and the actual drive power of the motor with high priority, for example, the power battery is in the discharge condition, and the motor with high priority is the working motor, the discharge power is preferentially satisfied for the demand of the working motor, and the remaining is satisfied for the demand of the walking motor, otherwise, the discharge power is preferentially satisfied for the demand of the walking motor, and the remaining is satisfied for the demand of the working motor, and the braking demand of the motor with high priority is preferentially satisfied in the charge condition, the braking recovery power limit of the motor with high priority is the maximum available charge power of the power battery, the braking recovery power limit of the motor with low priority is the difference between the maximum available charge power and the actual braking recovery power of the motor with high priority, for example, the power battery is in the discharge condition, and the motor with high priority is the walking motor, the braking demand of the walking motor is preferentially satisfied, and the remaining is satisfied for the braking demand of the working motor, otherwise, the braking demand of the working motor is preferentially satisfied, and the remaining is satisfied for the braking demand of the walking motor, so that the drive or braking demand of the motor with high priority is preferentially satisfied on the basis of ensuring that the charge-discharge power of the electric vehicle is not overcharged or overdischarged, the charge-discharge power of the electric vehicle is reasonably allocated, and the problem that the charge-discharge power of the electric vehicle is difficult to be reasonably allocated in the prior art is solved.

[0036] It should be noted that the scheme is also applicable to the range extending system. The discharge power limit is the sum of the maximum available discharge power of the power battery and the maximum power generation of the range extender, and the charge power limit is the difference between the maximum available charge power of the power battery and the actual power generation of the range extender.

[0037] In order to determine the priority of the motor in the discharge condition, in an optional embodiment, the step S201 includes:

[0038] In the step S2011, the working mode and the accelerator opening degree of the electric vehicle are obtained when the power battery is in the discharge condition, and the working mode includes the working mode and the non-working mode.

[0039] In the step S2012, the walking motor is determined as the motor with high priority and the working motor is determined as the motor with low priority when the working mode is the non-working mode and the accelerator opening degree is greater than 0.

[0040] In the step S2013, the working motor is determined as the motor with high priority and the walking motor is determined as the motor with low priority when the working mode is the working mode and the accelerator opening degree is equal to 0.

[0041] In the above embodiment, as Figure 3As shown, first, it is judged whether the working mode is the non-working mode, if the working mode is the non-working mode, it is continued to judge whether the throttle opening is greater than 0, if yes, it is determined that the above walking motor is the motor with high priority and the above working motor is the motor with low priority, if the working mode is the working mode, it is continued to judge whether the throttle opening is equal to 0, if yes, it is determined that the above working motor is the motor with high priority and the above walking motor is the motor with low priority.

[0042] In order to determine the discharge power distribution scheme with the same priority, in an optional embodiment, as shown in the figure, Figure 4 As shown, the step S201 further comprises:

[0043] Step S2014, under the condition that the power battery is in the discharge working condition, the working mode and the throttle opening of the electric vehicle are obtained, the working mode comprises the working mode and the non-working mode;

[0044] Step S2015, in the case that the working mode is the non-working mode and the throttle opening is equal to 0, it is determined that the priority of the working motor and the walking motor is the same;

[0045] Step S2016, in the case that the working mode is the working mode and the throttle opening is greater than 0, it is determined that the priority of the working motor and the walking motor is the same;

[0046] Step S2017, in the case that the priority of the working motor and the walking motor is the same, the minimum running power of the working motor is calculated according to the minimum speed of the working motor, the minimum speed of the working motor guarantees the minimum speed of the working motor;

[0047] Step S2018, the limit driving torque of the walking motor is calculated according to the maximum available discharge power of the power battery, the minimum running power of the working motor and the actual speed of the walking motor;

[0048] Step S2019, in the case that the limit driving torque of the walking motor is greater than the demand torque of the walking motor, the speed of the working motor is increased by a predetermined step until the speed of the working motor is equal to the expected speed of the working motor, and the driving power limit value of the walking motor is controlled to be the difference between the maximum available discharge power and the actual driving power of the working motor;

[0049] Step S2020, in the case that the limit driving torque of the walking motor is less than or equal to the demand torque of the walking motor, the speed of the working motor is maintained at the minimum speed of the working motor, and the driving power limit value of the walking motor is controlled to be the difference between the maximum available discharge power and the actual driving power of the working motor.

[0050] In the above embodiments, as shown in Figure 3 if the working mode is the non-working mode, it is continuously determined whether the accelerator opening degree is greater than 0, if not, the priority of the working motor and the traveling motor is the same, and further decision is needed, if the working mode is the working mode, it is continuously determined whether the accelerator opening degree is equal to 0, if not, the priority of the working motor and the traveling motor is the same, and further decision is needed, for the working condition that the priority cannot be simply distinguished according to the actual working condition and further decision is needed, the calculation method of the discharge power limit is as follows: firstly, in order to ensure the operation performance of the driver, the higher the vehicle speed, the higher the corresponding minimum speed of the working motor should be. Firstly, the minimum speed of the working motor is ensured, and then the torque limit of the traveling motor is calculated according to the intention of the driver and the remaining discharge power limit. If there is no excess discharge power, only the minimum speed of the working motor is maintained, and the rest is left to the traveling motor; if the discharge capacity is still excess on this basis and the expected speed of the working motor has not been reached, the speed of the working motor is gradually increased until the expected speed of the working motor is reached; wherein the demand torque of the traveling motor is determined according to the intention of the driver, that is, determined according to the action instruction of the driver, for example, the accelerator opening degree corresponding to the operation instruction.

[0051] In order to meet the driving demand, in an optional embodiment, after increasing the speed of the working motor by a predetermined step, the method further comprises:

[0052] Step S301, in the case that the speed of the working motor is greater than the minimum speed of the working motor and the limit driving torque of the traveling motor is less than the demand torque of the traveling motor, the speed of the working motor is reduced by the predetermined step until the speed of the working motor is equal to the minimum speed of the working motor, and the driving power limit of the traveling motor is controlled to be the difference between the maximum available discharge power and the actual driving power of the working motor.

[0053] In the above embodiments, in the case that the speed of the working motor is greater than the minimum speed of the working motor and the limit driving torque of the traveling motor is less than the demand torque of the traveling motor, that is, when the working motor does not meet the driving request when running at a higher speed, the speed of the working motor is gradually reduced, but the minimum speed of the working motor is still guaranteed.

[0054] In order to calculate the expected speed of the working motor, in an optional embodiment, before increasing the speed of the working motor by a predetermined step, the method further comprises:

[0055] Step S401, obtaining the current gear of the working motor and the initial set speed, the initial set speed being the speed set when the working motor starts;

[0056] Step S402, determining the required speed of the working motor according to the current gear position;

[0057] Step S403 : determining the maximum value of the required speed of the working motor and the set initial speed as the expected speed of the working motor.

[0058] In the above embodiment, the required speed of the working motor is determined based on the current gear, the required speed of the working motor and the set initial speed are compared, and the maximum value of the two is determined as the expected speed of the working motor, so that the working motor reaches the set speed when it starts, and reaches the required speed of the current gear during operation.

[0059] In order to determine the priority of the motor under the charging condition, in an optional implementation, the above step S201 further includes:

[0060] Step S2021, when the power battery is in the charging condition, obtaining the speed of the electric vehicle, the throttle opening, and the actual speed of the working motor;

[0061] Step S2022: If the vehicle speed is greater than a predetermined speed, the throttle opening is equal to 0, and the actual speed of the working motor is less than or equal to a set speed, determining that the travel motor is a high-priority motor and the working motor is a low-priority motor;

[0062] Step S2023, when the vehicle speed is less than or equal to one of the predetermined vehicle speed and the throttle opening is greater than 0 and the actual speed of the working motor is greater than the set speed, determine that the working motor is a high-priority motor and the travel motor is a low-priority motor.

[0063] In the above embodiment, if Figure 5 As shown, first determine whether the vehicle speed is greater than the predetermined speed and the above-mentioned throttle opening is equal to 0. If the above-mentioned vehicle speed is greater than the predetermined speed and the above-mentioned throttle opening is equal to 0, continue to determine whether the actual speed of the working motor is greater than the set speed. If not, determine that the above-mentioned walking motor is a high-priority motor and the above-mentioned working motor is a low-priority motor. If one of the above-mentioned vehicle speed is less than or equal to the above-mentioned predetermined speed and the above-mentioned throttle opening is greater than 0, continue to determine whether the actual speed of the working motor is greater than the set speed. If so, determine that the above-mentioned working motor is a high-priority motor and the above-mentioned walking motor is a low-priority motor.

[0064] In order to determine the charging power allocation schemes with the same priority, in an optional implementation, the above step S201 further includes:

[0065] Step S2024, when the power battery is in the charging condition, obtaining the speed of the electric vehicle, the throttle opening, and the actual speed of the working motor;

[0066] Step S2025: If the vehicle speed is greater than a predetermined speed, the throttle opening is equal to 0, and the actual speed of the working motor is greater than the set speed, determining that the working motor and the travel motor have the same priority;

[0067] Step S2026: If the vehicle speed is less than or equal to the predetermined vehicle speed and the throttle opening is greater than 0, and the actual speed of the working motor is less than or equal to the set speed, determining that the working motor and the travel motor have the same priority;

[0068] Step S2027, when the working motor and the walking motor have the same priority, determine the braking recovery power limit of the walking motor to be the maximum available charging power of the power battery, and determine the braking recovery power limit of the working motor to be the difference between the maximum available charging power and the actual braking recovery power of the walking motor.

[0069] In the above embodiment, if Figure 5 As shown, if the above-mentioned vehicle speed is greater than the predetermined vehicle speed and the above-mentioned throttle opening is equal to 0, continue to judge whether the actual speed of the working motor is greater than the set speed. If so, determine that the priority of the above-mentioned working motor and the above-mentioned walking motor is the same, and further decision-making is required. If the above-mentioned vehicle speed is less than or equal to one of the above-mentioned predetermined vehicle speed and the above-mentioned throttle opening is greater than 0, continue to judge whether the actual speed of the working motor is greater than the set speed. If so, determine that the priority of the above-mentioned working motor and the above-mentioned walking motor is the same, and further decision-making is required. The calculation method of the charging power limit is as follows: first, ensure the braking demand of the walking motor. If there is surplus, the working motor braking recovery is allowed, otherwise the working motor braking recovery is not allowed.

[0070] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0071] The embodiment of the present application further provides a charging and discharging power distribution device of an electric vehicle, the electric vehicle comprising a power battery, a working motor and a walking motor, the power battery being used for providing power for the working motor and the walking motor, and it should be noted that the charging and discharging power distribution device of the electric vehicle of the embodiment of the present application can be used for executing the charging and discharging power distribution method for the electric vehicle provided by the embodiment of the present application. The device is used for realizing the above embodiment and preferred embodiment, and details are not repeated. As used below, the term "module" can be a combination of software and / or hardware that realizes a predetermined function. Although the device described in the following embodiment is preferably realized in software, realization in hardware or a combination of software and hardware is also possible and conceived.

[0072] The charging and discharging power distribution device of the electric vehicle provided by the embodiment of the present application is introduced below.

[0073] Figure 6 is a structural block diagram of the charging and discharging power distribution device of the electric vehicle according to the embodiment of the present application. As shown in Figure 6 , the device comprises:

[0074] A first determination unit 10 is configured to determine, when the power battery is in a discharging working condition or a charging working condition, a motor with high priority from the working motor and the walking motor according to an operating working condition of the electric vehicle.

[0075] A second determination unit 20 is configured to determine, when the power battery is in the discharging working condition, a driving power limit value of the motor with high priority as a maximum available discharging power of the power battery, and determine a driving power limit value of the motor with low priority as a difference between the maximum available discharging power and an actual driving power of the motor with high priority.

[0076] A third determination unit 30 is configured to determine, when the power battery is in the charging working condition, a braking recovery power limit value of the motor with high priority as a maximum available charging power of the power battery, and determine a braking recovery power limit value of the motor with low priority as a difference between the maximum available charging power and an actual braking recovery power of the motor with high priority.

[0077] In the above power charging and discharging distribution device of the electric vehicle, the motor with high priority is determined according to the operating condition of the electric vehicle, in the discharging condition, the driving power limit of the motor with high priority is the maximum available discharging power of the power battery, the driving power limit of the motor with low priority is the difference between the maximum available discharging power and the actual driving power of the motor with high priority, for example, in the discharging condition, the motor with high priority is the working motor, the discharging power is preferentially satisfied for the working motor, and the remaining is satisfied for the traveling motor, otherwise, the motor with high priority is the traveling motor, the discharging power is preferentially satisfied for the traveling motor, and the remaining is satisfied for the working motor, in the charging condition, the braking recovery power limit of the motor with high priority is the maximum available charging power of the power battery, the braking recovery power limit of the motor with low priority is the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority, for example, in the discharging condition, the motor with high priority is the traveling motor, the braking demand is preferentially satisfied for the traveling motor, and the remaining is satisfied for the working motor, otherwise, the motor with high priority is the working motor, the braking demand is preferentially satisfied for the working motor, and the remaining is satisfied for the traveling motor, so that the driving or braking demand of the motor with high priority is preferentially satisfied on the basis of the non-overcharging and non-overdischarging of the power charging and discharging power of the electric vehicle, the power charging and discharging power of the electric vehicle is reasonably distributed, and the problem that the power charging and discharging power of the electric vehicle is difficult to be reasonably distributed in the prior art is solved.

[0078] It should be noted that the scheme is also applicable to the range extending system. The discharging power limit is the sum of the maximum available discharging power of the power battery and the maximum power generation of the range extender, and the charging power limit is the difference between the maximum available charging power of the power battery and the actual power generation of the range extender.

[0079] In order to determine the priority of the motor in the discharging condition, in an optional embodiment, the above first determination unit comprises:

[0080] The first acquisition module is configured to acquire the working mode and the accelerator opening degree of the electric vehicle when the power battery is in the discharging condition, and the working mode comprises a working mode and a non-working mode;

[0081] The first determination module is configured to determine that the traveling motor is the motor with high priority and the working motor is the motor with low priority when the working mode is the non-working mode and the accelerator opening degree is greater than 0;

[0082] The second determination module is configured to determine that the working motor is the motor with high priority and the traveling motor is the motor with low priority when the working mode is the working mode and the accelerator opening degree is equal to 0.

[0083] In the above embodiment, as Figure 3As shown, first, it is judged whether the working mode is the non-working mode, if the working mode is the non-working mode, it is continuously judged whether the throttle opening is greater than 0, if yes, it is determined that the above walking motor is the motor with high priority and the above working motor is the motor with low priority, if the working mode is the working mode, it is continuously judged whether the throttle opening is equal to 0, if yes, it is determined that the above working motor is the motor with high priority and the above walking motor is the motor with low priority.

[0084] In order to determine the discharge power distribution scheme with the same priority, in an optional embodiment, as shown in the figure, Figure 4 The first determination unit further comprises:

[0085] The second acquisition module is configured to acquire the working mode and the throttle opening of the electric vehicle when the power battery is in the discharge working condition, and the working mode comprises a working mode and a non-working mode;

[0086] The third determination module is configured to determine that the priority of the working motor and the walking motor is the same when the working mode is the non-working mode and the throttle opening is equal to 0;

[0087] The fourth determination module is configured to determine that the priority of the working motor and the walking motor is the same when the working mode is the working mode and the throttle opening is greater than 0;

[0088] The first calculation module is configured to calculate the minimum running power of the working motor according to the minimum speed of the working motor when the priority of the working motor and the walking motor is the same, and the minimum speed of the working motor guarantees the minimum speed of the working motor;

[0089] The second calculation module is configured to calculate the limit driving torque of the walking motor according to the maximum available discharge power of the power battery, the minimum running power of the working motor and the actual speed of the walking motor;

[0090] The first control module is configured to increase the speed of the working motor by a predetermined step when the limit driving torque of the walking motor is greater than the demand torque of the walking motor, until the speed of the working motor is equal to the expected speed of the working motor, and control the driving power limit value of the walking motor to be the difference between the maximum available discharge power and the actual driving power of the working motor;

[0091] The second control module is configured to maintain the speed of the working motor at the minimum speed of the working motor when the limit driving torque of the walking motor is less than or equal to the demand torque of the walking motor, and control the driving power limit value of the walking motor to be the difference between the maximum available discharge power and the actual driving power of the working motor.

[0092] In the above embodiment, as shown in Figure 3 if the working mode is the non-working mode, it is continuously determined whether the accelerator opening degree is greater than 0, if not, the priority of the working motor and the traveling motor is the same, and further decision is needed, if the working mode is the working mode, it is continuously determined whether the accelerator opening degree is equal to 0, if not, the priority of the working motor and the traveling motor is the same, and further decision is needed, for the working condition that the priority cannot be simply distinguished according to the actual working condition and further decision is needed, the calculation method of the discharge power limit is as follows: firstly, in order to ensure the operation performance of the driver, the higher the vehicle speed, the higher the corresponding minimum speed of the working motor should be. Firstly, the minimum speed of the working motor is ensured, and then the torque limit of the traveling motor is calculated according to the intention of the driver and the remaining discharge power limit value; if there is no surplus discharge power, only the minimum speed of the working motor is maintained, and the rest is left to the traveling motor; if the discharge capacity is still surplus on this basis and the expected speed of the working motor has not been reached, the speed of the working motor is gradually increased until the expected speed of the working motor is reached; wherein the demand torque of the traveling motor is determined according to the intention of the driver, that is, determined according to the operation instruction of the driver, for example, the accelerator opening degree corresponding to the operation instruction.

[0093] In order to meet the driving demand, in an optional embodiment, the device further comprises:

[0094] a control unit, configured to, after increasing the speed of the working motor by a predetermined step, in a case that the speed of the working motor is greater than the minimum speed of the working motor and the limit driving torque of the traveling motor is less than the demand torque of the traveling motor, decrease the speed of the working motor by the predetermined step until the speed of the working motor is equal to the minimum speed of the working motor, and control the driving power limit value of the traveling motor to be the difference between the maximum available discharge power and the actual driving power of the working motor.

[0095] In the above embodiment, in a case that the speed of the working motor is greater than the minimum speed of the working motor and the limit driving torque of the traveling motor is less than the demand torque of the traveling motor, that is, when the working motor does not meet the driving request when running at a higher speed, the speed of the working motor is gradually adjusted downward, but the minimum speed of the working motor is still ensured.

[0096] In order to calculate the expected speed of the working motor, in an optional embodiment, the device further comprises:

[0097] a obtaining unit, configured to, before increasing the speed of the working motor by a predetermined step, obtain the current gear of the working motor and a set initial speed of the working motor, the set initial speed of the working motor being the speed set when the working motor starts;

[0098] A fourth determining unit is configured to determine the demand rotating speed of the working motor according to the current gear;

[0099] A fifth determining unit is configured to determine the maximum value of the demand rotating speed of the working motor and the initial set rotating speed as the expected rotating speed of the working motor.

[0100] In the above embodiment, the demand rotating speed of the working motor is determined according to the current gear, the maximum value of the demand rotating speed of the working motor and the initial set rotating speed is determined as the expected rotating speed of the working motor, so that the working motor reaches the set rotating speed when starting and reaches the demand rotating speed of the current gear during operation.

[0101] In order to determine the priority of the motor in the charging condition, in an optional embodiment, the first determining unit further comprises:

[0102] A third obtaining module is configured to obtain the vehicle speed, the accelerator opening degree and the actual rotating speed of the working motor of the electric vehicle when the power battery is in the charging condition;

[0103] A fifth determining module is configured to determine that the walking motor is the motor with high priority and the working motor is the motor with low priority when the vehicle speed is greater than a predetermined vehicle speed, the accelerator opening degree is equal to 0 and the actual rotating speed of the working motor is less than or equal to the set rotating speed.

[0104] A sixth determining module is configured to determine that the working motor is the motor with high priority and the walking motor is the motor with low priority when one of the vehicle speed is less than or equal to the predetermined vehicle speed and the accelerator opening degree is greater than 0 is met and the actual rotating speed of the working motor is greater than the set rotating speed.

[0105] In the above embodiment, as shown in Figure 5 firstly, it is judged whether the vehicle speed is greater than a predetermined vehicle speed and the accelerator opening degree is equal to 0, if the vehicle speed is greater than a predetermined vehicle speed and the accelerator opening degree is equal to 0, it is further judged whether the actual rotating speed of the working motor is greater than the set rotating speed, if not, it is determined that the walking motor is the motor with high priority and the working motor is the motor with low priority, if one of the vehicle speed is less than or equal to the predetermined vehicle speed and the accelerator opening degree is greater than 0 is met, it is further judged whether the actual rotating speed of the working motor is greater than the set rotating speed, if yes, it is determined that the working motor is the motor with high priority and the walking motor is the motor with low priority.

[0106] In order to determine the charging power distribution scheme with the same priority, in an optional embodiment, the first determining unit further comprises:

[0107] The fourth obtaining module is configured to obtain the vehicle speed, the accelerator opening degree and the actual rotating speed of the working motor of the electric vehicle when the power battery is in the charging condition.

[0108] The seventh determining module is configured to determine that the priorities of the working motor and the traveling motor are the same when the vehicle speed is greater than the predetermined vehicle speed, the accelerator opening degree is equal to 0 and the actual rotating speed of the working motor is greater than the set rotating speed.

[0109] The eighth determining module is configured to determine that the priorities of the working motor and the traveling motor are the same when one of the vehicle speed being less than or equal to the predetermined vehicle speed and the accelerator opening degree being greater than 0 is met and the actual rotating speed of the working motor is less than or equal to the set rotating speed.

[0110] The ninth determining module is configured to determine that the brake recovery power limit of the traveling motor is the maximum available charging power of the power battery and the brake recovery power limit of the working motor is the difference between the maximum available charging power and the actual brake recovery power of the traveling motor when the priorities of the working motor and the traveling motor are the same.

[0111] In the embodiment, as shown in the flowchart of Fig. 1, if the vehicle speed is greater than the predetermined vehicle speed and the accelerator opening degree is equal to 0, it is determined whether the actual rotating speed of the working motor is greater than the set rotating speed, and if yes, it is determined that the priorities of the working motor and the traveling motor are the same, and further decision is needed. Figure 5 If one of the vehicle speed being less than or equal to the predetermined vehicle speed and the accelerator opening degree being greater than 0 is met, it is determined whether the actual rotating speed of the working motor is greater than the set rotating speed, and if yes, it is determined that the priorities of the working motor and the traveling motor are the same, and further decision is needed.

[0112] The charging and discharging power distribution device of the electric vehicle includes a processor and a memory, the first determining unit, the second determining unit and the third determining unit are stored in the memory as program units, and the corresponding functions are realized by the processor executing the program units stored in the memory. The modules are located in the same processor, or the modules are located in different processors in any combination.

[0113] The processor includes a core, and the core calls the corresponding program units from the memory. One or more cores can be set, and the problem that the electric vehicle is difficult to reasonably distribute charging and discharging power in the prior art can be solved by adjusting the core parameters.

[0114] The memory can include non-persistent memory in a computer readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory, including at least one memory chip.

[0115] The embodiment of the present application provides a computer readable storage medium, which comprises a stored program, wherein the program controls a device where the computer readable storage medium is located to execute the charging and discharging power distribution method of the electric vehicle when the program runs.

[0116] Specifically, the charging and discharging power distribution method of the electric vehicle comprises:

[0117] In step S201, when the power battery is in a discharging working condition or a charging working condition, a motor with a high priority is determined from the working motor and the walking motor according to an operating condition of the electric vehicle;

[0118] In step S202, when the power battery is in the discharging working condition, a driving power limit value of the motor with the high priority is determined as a maximum available discharging power of the power battery, and a driving power limit value of the motor with the low priority is determined as a difference between the maximum available discharging power and an actual driving power of the motor with the high priority.

[0119] In step S203, when the power battery is in the charging working condition, a braking recovery power limit value of the motor with the high priority is determined as a maximum available charging power of the power battery, and a braking recovery power limit value of the motor with the low priority is determined as a difference between the maximum available charging power and an actual braking recovery power of the motor with the high priority.

[0120] The embodiment of the present application provides a processor, which is used for running a program, wherein the program executes the charging and discharging power distribution method of the electric vehicle when the program runs.

[0121] Specifically, the charging and discharging power distribution method of the electric vehicle comprises:

[0122] In step S201, when the power battery is in a discharging working condition or a charging working condition, a motor with a high priority is determined from the working motor and the walking motor according to an operating condition of the electric vehicle;

[0123] In step S202, when the power battery is in the discharging working condition, a driving power limit value of the motor with the high priority is determined as a maximum available discharging power of the power battery, and a driving power limit value of the motor with the low priority is determined as a difference between the maximum available discharging power and an actual driving power of the motor with the high priority.

[0124] Step S203, when the power battery is in the charging condition, the braking recovery power limit value of the motor with high priority is determined as the maximum available charging power of the power battery, and the braking recovery power limit value of the motor with low priority is determined as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority.

[0125] The embodiment of the application provides a vehicle, which comprises a power battery, a working motor, a walking motor, a processor, a memory and a program stored in the memory and capable of running on the processor, the power battery is used for providing power for the working motor and the walking motor, and the processor implements at least the following steps when the program is executed:

[0126] Step S201, when the power battery is in the discharging condition or the charging condition, a motor with high priority is determined from the working motor and the walking motor according to the operation condition of the electric vehicle;

[0127] Step S202, when the power battery is in the discharging condition, the driving power limit value of the motor with high priority is determined as the maximum available discharging power of the power battery, and the driving power limit value of the motor with low priority is determined as the difference between the maximum available discharging power and the actual driving power of the motor with high priority.

[0128] Step S203, when the power battery is in the charging condition, the braking recovery power limit value of the motor with high priority is determined as the maximum available charging power of the power battery, and the braking recovery power limit value of the motor with low priority is determined as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority.

[0129] The application also provides a computer program product, which is suitable for executing the program with at least the following method steps when executed on a data processing device:

[0130] Step S201, when the power battery is in the discharging condition or the charging condition, a motor with high priority is determined from the working motor and the walking motor according to the operation condition of the electric vehicle;

[0131] Step S202, when the power battery is in the discharging condition, the driving power limit value of the motor with high priority is determined as the maximum available discharging power of the power battery, and the driving power limit value of the motor with low priority is determined as the difference between the maximum available discharging power and the actual driving power of the motor with high priority.

[0132] Step S203, when the power battery is in the charging condition, the brake regenerative power limit of the motor with high priority is determined as the maximum available charging power of the power battery, and the brake regenerative power limit of the motor with low priority is determined as the difference between the maximum available charging power and the actual brake regenerative power of the motor with high priority.

[0133] It is apparent that those skilled in the art shall understand that the modules or steps of the present application can be realized by general computing devices, which can be centralized on a single computing device or distributed on a network composed of multiple computing devices, and can be realized by program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different order, or they can be respectively manufactured into individual integrated circuit modules, or multiple modules or steps can be manufactured into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.

[0134] Those skilled in the art shall understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Thus, the present application can be in the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROMs, optical storage, etc.) containing computer-usable program codes.

[0135] The present application is described with reference to flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams can be realized by computer program instructions. These computer program instructions can be provided to a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the computer or other programmable data processing devices produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 an apparatus that carries out the functions specified in one or more flows and / or blocks.

[0136] These computer program instructions can also be stored in a computer-readable memory that can direct the computer or other programmable data processing devices to work in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including instruction apparatus, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1the function(s) specified in the block or blocks.

[0137] These computer program instructions can also be loaded into computer or other programmable data processing devices to cause a series of operational steps to be performed on the computer or other programmable devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable devices provide steps for implementing the flowchart block(s) or flowchart flow(s) and / or portions thereof. Figure 1 the flowchart block(s) or flowchart flow(s) and / or portions thereof. Figure 1 the function(s) specified in the block or blocks.

[0138] In one typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0139] The memory can include non-persistent memory and / or volatile memory, such as random access memory (RAM) about which the computer stores information such as computer program instructions. Memory is an example of computer readable media.

[0140] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to computing devices. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0141] It should also be noted that the terms "comprising", "including", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus that comprises a list of elements does not include only those elements recited, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article or apparatus that includes the element.

[0142] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:

[0143] 1) In the charging and discharging power distribution method of the electric vehicle of the present application, the motor with high priority is determined among the working motor and the walking motor according to the operating condition of the electric vehicle. In the discharging condition, the driving power limit value of the motor with high priority is determined as the maximum available discharging power of the power battery, and the driving power limit value of the motor with low priority is determined as the difference between the maximum available discharging power and the actual driving power of the motor with high priority. For example, when the power battery is in the discharging condition and the working motor has high priority, the discharging power is preferentially satisfied for the demand of the working motor, and the remaining is satisfied for the demand of the walking motor, otherwise, the opposite is true. In the charging condition, the braking recovery power limit value of the motor with high priority is determined as the maximum available charging power of the power battery, and the braking recovery power limit value of the motor with low priority is determined as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority. For example, when the power battery is in the discharging condition and the walking motor has high priority, the braking demand of the walking motor is preferentially satisfied, and the remaining is satisfied for the braking demand of the working motor, otherwise, the opposite is true. Thus, on the basis of ensuring that the charging and discharging power of the electric vehicle is not overcharged or overdischarged, the driving or braking demand of the motor with high priority is preferentially satisfied, the charging and discharging power of the electric vehicle is reasonably distributed, and the problem that the charging and discharging power of the electric vehicle is difficult to be reasonably distributed in the prior art is solved.

[0144] 2) In the charging and discharging power distribution device of the electric vehicle of the present application, the motor with high priority is determined among the working motor and the walking motor according to the operating condition of the electric vehicle. In the discharging condition, the driving power limit value of the motor with high priority is determined as the maximum available discharging power of the power battery, and the driving power limit value of the motor with low priority is determined as the difference between the maximum available discharging power and the actual driving power of the motor with high priority. For example, when the power battery is in the discharging condition and the working motor has high priority, the discharging power is preferentially satisfied for the demand of the working motor, and the remaining is satisfied for the demand of the walking motor, otherwise, the opposite is true. In the charging condition, the braking recovery power limit value of the motor with high priority is determined as the maximum available charging power of the power battery, and the braking recovery power limit value of the motor with low priority is determined as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority. For example, when the power battery is in the discharging condition and the walking motor has high priority, the braking demand of the walking motor is preferentially satisfied, and the remaining is satisfied for the braking demand of the working motor, otherwise, the opposite is true. Thus, on the basis of ensuring that the charging and discharging power of the electric vehicle is not overcharged or overdischarged, the driving or braking demand of the motor with high priority is preferentially satisfied, the charging and discharging power of the electric vehicle is reasonably distributed, and the problem that the charging and discharging power of the electric vehicle is difficult to be reasonably distributed in the prior art is solved.

[0145] The above descriptions are only the preferred embodiments of the present application, and are not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A charge-discharge power distribution method for an electric vehicle, characterized by, The electric vehicle comprises a power battery, a working motor and a walking motor, the power battery is used for providing power for the working motor and the walking motor, and the method comprises the following steps: When the power battery is in a discharging working condition or a charging working condition, a motor with high priority is determined according to the working condition of the electric vehicle; When the power battery is in the discharging working condition, the driving power limit value of the motor with high priority is determined as the maximum available discharging power of the power battery, and the driving power limit value of the motor with low priority is determined as the difference between the maximum available discharging power and the actual driving power of the motor with high priority; When the power battery is in the charging working condition, the braking recovery power limit value of the motor with high priority is determined as the maximum available charging power of the power battery, and the braking recovery power limit value of the motor with low priority is determined as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority; When the power battery is in a discharging working condition or a charging working condition, a motor with high priority is determined according to the working condition of the electric vehicle, and the method further comprises the following steps: when the power battery is in the discharging working condition, the working mode and the throttle opening degree of the electric vehicle are acquired, the working mode comprises a working mode and a non-working mode; when the working mode is the non-working mode and the throttle opening degree is equal to 0, the priorities of the working motor and the walking motor are determined to be the same; when the working mode is the working mode and the throttle opening degree is greater than 0, the priorities of the working motor and the walking motor are determined to be the same; when the priorities of the working motor and the walking motor are the same, the minimum running power of the working motor is calculated according to the working motor minimum speed, the working motor minimum speed is the minimum speed at which the working motor works; the limit driving torque of the walking motor is calculated according to the maximum available discharging power of the power battery, the minimum running power of the working motor and the actual speed of the walking motor; when the limit driving torque of the walking motor is greater than the demand torque of the walking motor, the speed of the working motor is increased by a predetermined step until the speed of the working motor is equal to the working motor expected speed, and the driving power limit value of the walking motor is controlled to be the difference between the maximum available discharging power and the actual driving power of the working motor; when the limit driving torque of the walking motor is less than or equal to the demand torque of the walking motor, the speed of the working motor is maintained at the working motor minimum speed, and the driving power limit value of the walking motor is controlled to be the difference between the maximum available discharging power and the actual driving power of the working motor. In the discharging mode or the charging mode of the power battery, the motor with higher priority is determined according to the operating mode of the electric vehicle, and the method further comprises: in the charging mode of the power battery, obtaining the vehicle speed, the accelerator opening and the actual speed of the working motor of the electric vehicle; in the case that the vehicle speed is greater than a predetermined vehicle speed, the accelerator opening is equal to 0 and the actual speed of the working motor is greater than a set speed, it is determined that the working motor and the traveling motor have the same priority; in the case that one of the vehicle speed being less than or equal to the predetermined vehicle speed and the accelerator opening being greater than 0 is satisfied and the actual speed of the working motor is less than or equal to the set speed, it is determined that the working motor and the traveling motor have the same priority; in the case that the working motor and the traveling motor have the same priority, the brake recovery power limit of the traveling motor is determined as the maximum available charging power of the power battery, and the brake recovery power limit of the working motor is determined as the difference between the maximum available charging power and the actual brake recovery power of the traveling motor.

2. The method of claim 1, wherein, In the discharging mode or the charging mode of the power battery, the motor with higher priority is determined according to the operating mode of the electric vehicle, and the method further comprises: In the discharging mode of the power battery, obtaining the working mode and the accelerator opening of the electric vehicle, wherein the working mode comprises a working mode and a non-working mode; In the case that the working mode is the non-working mode and the accelerator opening is greater than 0, it is determined that the traveling motor has higher priority and the working motor has lower priority; In the case that the working mode is the working mode and the accelerator opening is equal to 0, it is determined that the working motor has higher priority and the traveling motor has lower priority.

3. The method of claim 1, wherein, Before increasing the speed of the working motor by a predetermined step, the method further comprises: In the case that the speed of the working motor is greater than the minimum speed of the working motor and the limit driving torque of the traveling motor is less than the demand torque of the traveling motor, the speed of the working motor is decreased by the predetermined step until the speed of the working motor is equal to the minimum speed of the working motor, and the driving power limit of the traveling motor is controlled as the difference between the maximum available discharging power and the actual driving power of the working motor.

4. The method of claim 1, wherein, Before increasing the speed of the working motor by a predetermined step, the method further comprises: Obtaining the current gear and the initial set speed of the working motor, wherein the initial set speed is the set speed when the working motor starts; Determining the demand speed of the working motor according to the current gear; Determining the maximum value of the demand speed of the working motor and the initial set speed as the expected speed of the working motor.

5. The method of claim 1, wherein, In the discharging mode or the charging mode of the power battery, the motor with higher priority is determined according to the operating mode of the electric vehicle, and the method further comprises: The vehicle speed, the accelerator opening degree and the actual rotating speed of the working motor of the electric vehicle are acquired when the power battery is in the charging working condition; The working motor is determined as the motor with high priority and the traveling motor is determined as the motor with low priority when the vehicle speed is greater than a predetermined vehicle speed, the accelerator opening degree is equal to 0 and the actual rotating speed of the working motor is less than or equal to a set rotating speed; The working motor is determined as the motor with high priority and the traveling motor is determined as the motor with low priority when one of the vehicle speed being less than or equal to the predetermined vehicle speed and the accelerator opening degree being greater than 0 is satisfied and the actual rotating speed of the working motor is greater than the set rotating speed.

6. A charge-discharge power distribution device for an electric vehicle, characterized by comprising: The electric vehicle comprises a power battery, a working motor and a traveling motor, the power battery is used to provide power for the working motor and the traveling motor, and the device comprises: A first determining unit is configured to determine the motor with high priority from the working motor and the traveling motor according to the running working condition of the electric vehicle when the power battery is in a discharging working condition or a charging working condition; A second determining unit is configured to determine the driving power limit value of the motor with high priority as the maximum available discharging power of the power battery and determine the driving power limit value of the motor with low priority as the difference between the maximum available discharging power and the actual driving power of the motor with high priority when the power battery is in the discharging working condition; A third determining unit is configured to determine the braking recovery power limit value of the motor with high priority as the maximum available charging power of the power battery and determine the braking recovery power limit value of the motor with low priority as the difference between the maximum available charging power and the actual braking recovery power of the motor with high priority when the power battery is in the charging working condition; The first determining unit further comprises: a second obtaining module, configured to obtain a working mode and an accelerator opening of the electric vehicle when the power battery is in the discharging working condition, the working mode comprising a working mode and a non-working mode; a third determining module, configured to determine that the working motor and the traveling motor have the same priority when the working mode is the non-working mode and the accelerator opening is equal to 0; a fourth determining module, configured to determine that the working motor and the traveling motor have the same priority when the working mode is the working mode and the accelerator opening is greater than 0; a first calculating module, configured to calculate the minimum running power of the working motor according to a working motor minimum speed when the working motor and the traveling motor have the same priority, the working motor minimum speed being the minimum speed at which the working motor works; a second calculating module, configured to calculate the limit driving torque of the traveling motor according to the maximum available discharging power of the power battery, the minimum running power of the working motor and an actual speed of the traveling motor; a first control module, configured to increase the speed of the working motor by a predetermined step when the limit driving torque of the traveling motor is greater than the demand torque of the traveling motor, until the speed of the working motor is equal to an expected speed of the working motor, and to control the driving power limit value of the traveling motor to be the difference between the maximum available discharging power and the actual driving power of the working motor; and a second control module, configured to maintain the speed of the working motor at the working motor minimum speed when the limit driving torque of the traveling motor is less than or equal to the demand torque of the traveling motor, and to control the driving power limit value of the traveling motor to be the difference between the maximum available discharging power and the actual driving power of the working motor. The first determining unit further comprises: a fourth obtaining module, configured to obtain a vehicle speed, an accelerator opening and an actual speed of the working motor of the electric vehicle when the power battery is in the charging working condition; a seventh determining module, configured to determine that the working motor and the traveling motor have the same priority when the vehicle speed is greater than a predetermined vehicle speed, the accelerator opening is equal to 0 and the actual speed of the working motor is greater than a set speed; an eighth determining module, configured to determine that the working motor and the traveling motor have the same priority when one of the vehicle speed being less than or equal to the predetermined vehicle speed and the accelerator opening being greater than 0 is satisfied and the actual speed of the working motor being less than or equal to the set speed is satisfied; and a ninth determining module, configured to determine that the brake recovery power limit value of the traveling motor is the maximum available charging power of the power battery and the brake recovery power limit value of the working motor is the difference between the maximum available charging power and the actual brake recovery power of the traveling motor when the working motor and the traveling motor have the same priority.

7. A computer program product comprising a computer program, characterized in that, The computer program is executed by a processor to implement the method of any one of claims 1 to 5.

8. A vehicle characterized by comprising: Comprise: A power battery, a working motor, a walking motor, one or more processors, a memory, and one or more programs, wherein the power battery is configured to provide power for the working motor and the walking motor, the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program configured to perform the method of any one of claims 1 to 5.

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